JPH0484076U

JPH0484076U -

Info

Publication number: JPH0484076U
Application number: JP12912390U
Authority: JP
Priority date: 1990-11-30
Filing date: 1990-11-30
Publication date: 1992-07-22

Description

[Brief explanation of drawings]

第１図は本考案によるステアリング部分の側面
図、第２図は本考案による傾斜センサ及び加速度
センサを示す図で、ａはその通常時の側面断面図
、ｂはその加速度発生時の側面断面図、ｃはその
傾斜時の側面断面図である。第３図は本考案を適
用した乗用田植機の側面図、第４図はその平面図
、第５図は本考案による直進自動制御装置のシス
テムブロツク図、第６図は本考案による直進自動
制御のフローチヤート、第７図は第６図のセンサ
セツト部分のサブルーチン、第８図は第６図のモ
ードセレクト部分のサブルーチン、第９図は第６
図の傾斜制御部分のサブルーチン、第１０図は第
６図の加速度制御部分のサブルーチン、第１１図
は第６図の苗載せ台制御部分のサブルーチン、第
１２図は第６図の方位制御部分のサブルーチン、
第１３図は第６図のステアリング制御部分のサブ
ルーチン、第１４図は方位センサによる直進自動
制御中の乗用田植機の動きを示す動作説明図、第
１５図は方位センサによる直進自動制御中の乗用
田植機の横スリツプ時の動きを示す動作説明図で
ある。７……機体（走行機体）、１１……ステアリン
グ、１３……ステアリング駆動手段（ステアリン
グ駆動用モータ）、２０……傾斜検知手段（傾斜
センサ）、２１……傾斜検知手段（左右加速度セ
ンサ）、２３……直進制御手段（制御装置）。 Fig. 1 is a side view of the steering part according to the present invention, and Fig. 2 is a diagram showing the tilt sensor and acceleration sensor according to the present invention, where a is a side sectional view of the normal state, and b is a side sectional view of the steering part when acceleration is generated. , c is a side cross-sectional view when it is tilted. Fig. 3 is a side view of a riding rice transplanter to which the present invention is applied, Fig. 4 is a plan view thereof, Fig. 5 is a system block diagram of the straight-line automatic control device according to the present invention, and Fig. 6 is a straight-line automatic control according to the present invention. 7 is a subroutine for the sensor set portion of FIG. 6, FIG. 8 is a subroutine for the mode select portion of FIG. 6, and FIG. 9 is a subroutine for the mode selection portion of FIG. 6.
Figure 10 is a subroutine for the acceleration control part in Figure 6, Figure 11 is a subroutine for the seedling platform control part in Figure 6, and Figure 12 is a subroutine for the orientation control part in Figure 6. subroutine,
Fig. 13 is a subroutine for the steering control part in Fig. 6, Fig. 14 is an operational explanatory diagram showing the movement of the riding rice transplanter during straight-ahead automatic control by the azimuth sensor, and Fig. 15 is an illustration of the movement of the riding rice transplanter during straight-ahead automatic control by the azimuth sensor. FIG. 3 is an explanatory diagram showing the movement of the rice transplanter when it slips sideways. 7... Body (travelling body), 11... Steering, 13... Steering drive means (steering drive motor), 20... Tilt detection means (tilt sensor), 21... Tilt detection means (left and right acceleration sensor), 23... Straight travel control means (control device).

Claims

[Claims for Utility Model Registration] Steering drive means for driving the steering; tilt detection means for detecting the tilt of the aircraft body; A straight-line automatic control device for a mobile agricultural machine, comprising: a straight-line control means for driving and controlling a steering drive means;